Self-Motions of General 3-RPR Planar Parallel Robots

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behaviour at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented

W-superalgebras as truncation of super-Yangians

We show that some finite W-superalgebras based on gl(M|N) are truncation of the super-Yangian Y(gl(M|N)). In the same way, we prove that finite W-superalgebras based on osp(M|2n) are truncation of the twisted super-Yangians Y(gl(M|2n))^{+}. Using this homomorphism, we present these W-superalgebras in an R-matrix formalism, and we classify their finite-dimensional irreducible representations.Comment: Latex, 32 page

A New 3-DoF Planar Parallel Manipulator with Unlimited Rotation Capability

International audienceMost of three-degree-of-freedom (3-DoF) planar parallel manipulators encountered today have a common disadvantage that is their low rotational capability. However, for many industrial applications, by example in automated assembly systems, cutting machines, simulators, or micro-motion manipulators, a high rotation capability is needed. To overcome such a difficulty, this paper focuses its attention on the proposal of a new 3-DoF planar parallel manipulator capable of high rotational capability. Firstly, structure and mobility of the suggested manipulator are discussed. Then the forward and inverse kinematic problems are analyzed, as well as it is disclosed its singular configurations. The shaking force and shaking moment balancing are also considered. The proposed design concept is illustrated by a driven demonstrator which is a first model of the suggested manipulator

Design and stability study of a paediatric oral solution of methotrexate 2mg/ml

Oral paediatric forms development by pharmaceutical industry is still insufficient. The present study was performed to propose an adapted and pleasant formulation of liquid oral formulation of MTX. The solution is composed of injectable methotrexate, water, Ora Sweet(®) and sodium bicarbonate. After 120 days storage, pH remained stable at about 8 in all formulations, insuring no risk of MTX precipitation. MTX content in solution formulation, determined by high performance liquid chromatography measurements, remained in the specifications of >90% of the initial concentration when stored at 4 and 25°C. Forced degradation of MTX by heat and acidic conditions allowed formation and detection of degradation products by the analytical method. Microbial study of the preparation shows that the solution remains in the specifications during all the storage, or after one sample each week during one month, eventually indicating the microbial properties are not affected by patient use. To conclude, we here propose a new MTX liquid formulation stable for at least 120 days

Soliton surfaces associated with symmetries of ODEs written in Lax representation

The main aim of this paper is to discuss recent results on the adaptation of the Fokas-Gel'fand procedure for constructing soliton surfaces in Lie algebras, which was originally derived for PDEs [Grundland, Post 2011], to the case of integrable ODEs admitting Lax representations. We give explicit forms of the \g-valued immersion functions based on conformal symmetries involving the spectral parameter, a gauge transformation of the wave function and generalized symmetries of the linear spectral problem. The procedure is applied to a symmetry reduction of the static $\phi^4$-field equations leading to the Jacobian elliptic equation. As examples, we obtain diverse types of surfaces for different choices of Jacobian elliptic functions for a range of values of parameters.Comment: 14 Pages, 2 figures Conference Proceedings for QST7 Pragu

Influence of V/III molar ratio on the formation of In vacancies in InN grown by metal-organic vapor-phase epitaxy

We have applied a slow positron beam to study InN samples grown by metal-organic vapor-phase epitaxy with different V/III molar ratios (3300–24 000) and at different growth temperatures (550–625°C). Indium vacancies were identified in samples grown at V/III ratios below 4000. Their concentration is in the 10exp17cm−3 range. No strong dependence of vacancy concentration on the molar ratio was observed. At low V/III ratios, however, In droplets and vacancy clusters are formed near the substrate interface. The elevated growth temperature enhances the In vacancy formation, possibly due to limited sticking of In on the growth surface close to the decomposition temperature.Peer reviewe

Développement et validation d’une méthode de dosage des traces de détergents inactivants totaux du prion

OBJECTIVES: In this study, a novel analytical method to quantify prion inactivating detergent in rinsing waters coming from the washer-disinfector of a hospital sterilization unit has been developed. The final aim was to obtain an easy and functional method in a routine hospital process which does not need the cleaning product manufacturer services. METHODS: An ICP-MS method based on the potassium dosage of the washer-disinfector\u27s rinsing waters was developed. Potassium hydroxide is present on the composition of the three prion inactivating detergent currently on the French market. The detergent used in this study was the Actanios LDI(®) (Anios laboratories). A Passing and Bablok regression compares concentrations measured with this developed method and with the HPLC-UV manufacturer method. RESULTS: According to results obtained, the developed method is easy to use in a routine hospital process. The Passing and Bablok regression showed that there is no statistical difference between the two analytical methods during the second rinsing step. Besides, both methods were linear on the third rinsing step, with a 1.5ppm difference between the concentrations measured for each method. CONCLUSIONS: This study shows that the ICP-MS method developed is nonspecific for the detergent, but specific for the potassium element which is present in all prion inactivating detergent currently on the French market. This method should be functional for all the prion inactivating detergent containing potassium, if the sensibility of the method is sufficient when the potassium concentration is very low in the prion inactivating detergent formulation

Light and Life: Exotic Photosynthesis in Binary Star Systems

The potential for hosting photosynthetic life on Earth-like planets within binary/multiple stellar systems was evaluated by modelling the levels of photosynthetically active radiation (PAR) such planets receive. Combinations of M and G stars in: (i) close-binary systems; (ii) wide-binary systems and (iii) three-star systems were investigated and a range of stable radiation environments found to be possible. These environmental conditions allow for the possibility of familiar, but also more exotic forms of photosynthetic life, such as infrared photosynthesisers and organisms specialised for specific spectral niches.Comment: Accepted for publication in: Astrobiolog